A multi-degree-of-freedom thumb structure and a multi-degree-of-freedom bionic hand

Abstract

This invention relates to a multi-degree-of-freedom thumb structure and a multi-degree-of-freedom bionic hand. The multi-degree-of-freedom simulated hand includes a palm portion; the multi-degree-of-freedom thumb structure includes a first housing, a thumb assembly, and a lateral swing drive assembly; the first housing is mounted on the palm portion; the thumb assembly includes a proximal thumb joint, a mid-thumb joint, and a distal thumb joint connected in sequence; one end of the proximal thumb joint is connected to the palm portion via a first ball hinge structure, and the other end is connected to the mid-thumb joint via a second ball hinge structure; the power output end of the lateral swing drive assembly is connected to the proximal thumb joint and also to the mid-thumb joint, so that when it drives the thumb assembly to move closer to or away from the palm portion, it synchronously drives the mid-thumb joint to swing relative to the proximal thumb joint around the center of the second ball hinge structure, which has the advantage of high flexibility.

Description

Technical Field

[0001] This invention relates to the technical field of simulation devices and robotic hands, and in particular to a multi-degree-of-freedom thumb structure and a multi-degree-of-freedom bionic hand. Background Technology

[0002] The robotic arm is the final execution mechanism for a robot's work, and its performance directly determines the robot's working capabilities. Therefore, it is essential to develop robotic arms with high versatility and flexibility.

[0003] For example, Chinese Patent No. CN112659165A discloses a simulated robotic hand, which specifically discloses: a support plate, a palm block, a thumb support seat, four finger support seats, a thumb, four fingers, a first drive structure, a second drive structure, and four third drive structures. The thumb support seat is rotatably mounted on the support plate, the palm block is vertically mounted on the support plate, and the four finger support seats are mounted on the palm block. The first drive structure includes a first motor, a first gear, and a second gear. The first gear is coaxially fixed on the thumb support seat, the first motor is mounted on the support plate, and the second gear is fixedly sleeved on the output shaft of the first motor and meshes with the first gear. The thumb is hinged to the thumb support seat. The second drive structure is mounted on the thumb support seat, and its output end is connected to the thumb and drives the thumb to swing around the thumb support seat.

[0004] However, the aforementioned robotic hand can only swing and flex in the plane of the fingers, with relatively few degrees of freedom, making it inflexible and difficult to simulate human hand grasping and picking operations. Furthermore, its hand power and transmission device are integrated into the arm, resulting in a lack of wrist flexibility, which further affects the overall flexibility of the simulated hand. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a multi-degree-of-freedom thumb structure and a multi-degree-of-freedom bionic hand.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A multi-degree-of-freedom thumb structure for use in a multi-degree-of-freedom simulated hand, the multi-degree-of-freedom simulated hand including a palm portion;

[0008] The multi-degree-of-freedom thumb structure includes a first housing, a thumb assembly, and a side-swing drive assembly connected to the first housing;

[0009] The first housing is mounted on the palm portion;

[0010] The thumb assembly comprises a thumb proximal interphalangeal joint, a thumb middle interphalangeal joint and a thumb distal interphalangeal joint connected in sequence; one end of the thumb proximal interphalangeal joint is connected with the palm part through a first spherical hinge structure, and the other end is connected with the thumb middle interphalangeal joint through a second spherical hinge structure;

[0011] The power output end of the side swing driving assembly is connected with the thumb proximal interphalangeal joint to drive the thumb assembly to move close to or away from the palm part;

[0012] The power output end of the side swing driving assembly is also connected with the thumb middle interphalangeal joint to synchronously drive the thumb middle interphalangeal joint to swing around the center of the second spherical hinge structure relative to the thumb proximal interphalangeal joint when the thumb assembly is driven to move close to or away from the palm part.

[0013] Preferably, the first spherical hinge structure comprises a connecting rod, a first spherical body and a spherical sleeve;

[0014] One end of the connecting rod is fixedly connected with the thumb proximal interphalangeal joint, and the other end is fixedly connected with the first spherical body;

[0015] The spherical sleeve is fixedly installed on the palm part and is hingedly connected with the first spherical body.

[0016] Preferably, the side swing driving assembly comprises a side swing driving part, a side swing pull rod and a connecting part;

[0017] The side swing driving part is installed in the first housing;

[0018] One end of the side swing pull rod is movably connected with the side swing driving part, and the other end has a first hinged position and a second hinged position; the first hinged position is rotatably connected with the thumb proximal interphalangeal joint, and the second hinged position is connected with the thumb middle interphalangeal joint through the connecting part.

[0019] Preferably, the connecting part comprises a pull ring and a connecting rod;

[0020] The pull ring has a circular ring structure, and the central axis of the pull ring coincides with the central axis of the second spherical hinge structure;

[0021] The pull ring is fixedly connected with the thumb middle interphalangeal joint, and a part of the pull ring protrudes from the thumb middle interphalangeal joint towards the thumb proximal interphalangeal joint;

[0022] One end of the connecting rod is rotatably connected with the second hinged position, and the other end is rotatably connected with the part of the pull ring protruding from the thumb middle interphalangeal joint.

[0023] Preferably, the second spherical hinge structure comprises a circular arc cavity, a hinged shaft and a second spherical body;

[0024] The arcuate cavity is arranged on the middle metacarpophalangeal joint of the thumb, and both ends have openings;

[0025] Both ends of the hinge shaft respectively penetrate the openings and the proximal metacarpophalangeal joint of the thumb and are rotationally connected, and the diameter of the opening is greater than that of the hinge shaft;

[0026] The second sphere is located in the arcuate cavity and rotationally connected with the hinge shaft, and the outer wall surface of the second sphere abuts against the cavity wall of the arcuate cavity.

[0027] Preferably, the second spherical hinge structure further comprises two extension sleeves sleeved on the hinge shaft;

[0028] The extension sleeves are symmetrically distributed about the second sphere, and one end of the extension sleeve is fixedly connected with the second sphere, and the other end abuts against the proximal metacarpophalangeal joint of the thumb;

[0029] The outer diameter of the extension sleeve is smaller than the diameter of the opening.

[0030] Preferably, the first shell is rotationally connected with the palm part;

[0031] The multi-degree-of-freedom thumb structure further comprises a turnover driving assembly for driving the first shell to rotate;

[0032] At least the power part of the turnover driving assembly is mounted on the palm part.

[0033] A multi-degree-of-freedom simulation hand comprises a palm part, and further comprises a multi-degree-of-freedom thumb structure as described above;

[0034] Further comprising a little thumb structure and a middle finger structure;

[0035] The little thumb structure comprises a second shell, and the second shell is rotationally connected with the palm part;

[0036] Further comprising a linkage driving assembly for driving the first shell and the second shell to rotate simultaneously towards the palm part or away from the palm part.

[0037] Preferably, swing driving assemblies are arranged between the little thumb structure and the second shell, and between the middle finger structure and the palm part;

[0038] The swing driving assembly comprises a hinge frame, an arcuate bevel gear segment, and a second driving bevel gear;

[0039] The hinge frame is rotationally mounted on the second shell or the palm part and connected with the proximal metacarpophalangeal joint of the little thumb structure or the proximal metacarpophalangeal joint of the middle finger structure.

[0040] The circular arc bevel gear segment is fixed on the articulated frame and meshes with the second driving bevel gear.

[0041] Preferably, the multi-degree-of-freedom thumb structure, the little finger structure and the middle finger structure are all provided with mutually articulated finger joints;

[0042] A flexion and extension driving assembly is arranged between adjacent finger joints.

[0043] The flexion and extension driving assembly comprises a flexion and extension driving power part, a second transmission gear set, a flexion and extension driving screw, a flexion and extension driving sliding block and a flexion and extension driving pull rod.

[0044] The power of the flexion and extension driving power part is transmitted to the flexion and extension driving screw through the second transmission gear set to drive the flexion and extension driving screw to rotate.

[0045] The flexion and extension driving sliding block is slidingly installed on one of the finger joints and is threadedly connected with the flexion and extension driving screw to axially slide along the flexion and extension driving screw when the flexion and extension driving screw rotates; one end of the flexion and extension driving pull rod is rotationally and matchingly connected with the flexion and extension driving sliding block and the other end is articulated with the other finger joint.

[0046] Compared with the prior art, the present application has the following beneficial effects:

[0047] The multi-degree-of-freedom thumb structure of the present application realizes the movable connection between the proximal phalanx joint of the thumb and the palm part through the first spherical hinge structure, realizes the movable connection between the proximal phalanx joint of the thumb and the middle phalanx joint of the thumb through the second spherical hinge structure, and simultaneously connects the proximal phalanx joint of the thumb and the middle phalanx joint of the thumb through the side swing driving assembly, so that the side swing driving assembly can drive the middle phalanx joint of the thumb to swing around the spherical center of the second spherical hinge structure relative to the proximal phalanx joint of the thumb when driving the driving thumb assembly to approach or move away from the palm part, thereby effectively increasing the flexibility of the thumb structure. Correspondingly, the multi-degree-of-freedom simulation hand of the present application has the above multi-degree-of-freedom thumb structure and can be more flexible and more suitable for gripping operation. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following specific embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0049] Figure 1Connection diagram of the multi-degree-of-freedom thumb structure and the palm part provided by the present application.

[0050] Figure 2 Structure diagram of one embodiment of the multi-degree-of-freedom thumb structure provided by the present application.

[0051] Figure 3 For Figure 2 Structure diagram (partly cut) after the first shell is removed.

[0052] Figure 4 For Figure 3 Enlarged diagram of the D1 position.

[0053] Figure 5 For Figure 2 Partly cut diagram.

[0054] Figure 6 For Figure 5 Enlarged diagram of the D2 position.

[0055] Figure 7 For Figure 2 Cut diagram of the flexion and extension driving assembly position.

[0056] Figure 8 Structure diagram of another embodiment of the multi-degree-of-freedom thumb structure provided by the present application.

[0057] Figure 9 For Figure 8 Cut diagram from another perspective.

[0058] Figure 10 Structure diagram of the multi-degree-of-freedom artificial hand provided by the present application.

[0059] Figure 11 For Figure 10 Connection diagram of the multi-degree-of-freedom thumb structure, the little finger structure and the linkage driving assembly.

[0060] Figure 12 Structure diagram of the middle finger structure.

[0061] Figure 13 Partly cut diagram of the middle finger structure.

[0062] Figure 14 Structure diagram of the swing driving assembly in the middle finger structure.

[0063] Explanation of reference signs:

[0064] 1, first housing; 2, thumb assembly; 21, thumb proximal interphalangeal joint; 22, thumb middle interphalangeal joint; 23, thumb distal interphalangeal joint; 3, side swing driving assembly; 31, side swing driving part; 311, side swing driving motor; 312, side swing driving gear set; 313, side swing driving screw; 314, side swing driving slider; 32, side swing pull rod; 321, first hinged position; 322, second hinged position; 33, connecting part; 331, pull ring; 332, connecting rod; 4, first spherical hinge structure; 41, connecting rod; 42, first sphere; 43, spherical sleeve; 5, second spherical hinge structure; 51, circular arc cavity; 511, opening; 52, hinged shaft; 53, second sphere; 54, extension sleeve; 6, overturning driving assembly; 61, first motor; 62, overturning transmission gear set; 63, overturning driving shaft; 64, first driving bevel gear; 65, first driven bevel gear; 7, second housing; 71, circular shaft; 8, linkage driving assembly; 9, swing driving assembly; 91, hinged frame; 92, circular arc bevel gear segment; 93, second driving bevel gear; 94, power source; 10, flexion and extension driving assembly; 101, flexion and extension driving power part; 102, second transmission gear set; 103, flexion and extension driving screw; 104, flexion and extension driving slider; 105, flexion and extension pull rod; 106, extension pull rod; 100, palm part. DETAILED DESCRIPTION

[0065] The technical solutions of the present application will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0066] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0067] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0068] Referring to Figures 1 to 7 The embodiment of the present application provides a multi-degree-of-freedom thumb structure for a multi-degree-of-freedom simulation hand to improve the flexibility of the simulation hand. The multi-degree-of-freedom simulation hand comprises a palm part 100, and the multi-degree-of-freedom thumb structure comprises a first shell 1, a thumb assembly 2, and a side swing driving assembly 3 connected with the first shell 1.

[0069] Specifically, the first shell 1 is mounted on the palm part 100; the thumb assembly 2 comprises a thumb proximal joint 21, a thumb middle joint 22 and a thumb distal joint 23 connected in sequence; one end of the thumb proximal joint 21 is connected with the palm part 100 through a first spherical hinge structure 4, and the other end is connected with the thumb middle joint 22 through a second spherical hinge structure 5; a power output end of the side swing driving assembly 3 is connected with the thumb proximal joint 21 to drive the thumb assembly 2 to move close to or away from the palm part 100; the power output end of the side swing driving assembly 3 is also connected with the thumb middle joint 22 to synchronously drive the thumb middle joint 22 to swing relative to the thumb proximal joint 21 around the ball center of the second spherical hinge structure 5 when the thumb assembly 2 is driven to move close to or away from the palm part 100.

[0070] It is worth noting that the "proximal end" is the end relatively close to the palm part 100, and the "distal end" is the end relatively far away from the palm part 100.

[0071] It is not difficult to understand that in the above scheme, the movable connection between the thumb proximal joint 21 and the palm part 100 is realized through the first spherical hinge structure 4, the movable connection between the thumb proximal joint 21 and the thumb middle joint 22 is realized through the second spherical hinge structure 5, and the thumb proximal joint 21 and the thumb middle joint 22 are also connected through the side swing driving assembly 3, so that the side swing driving assembly 3 can synchronously drive the thumb middle joint 22 to swing relative to the thumb proximal joint 21 around the ball center of the second spherical hinge structure 5 when driving the thumb assembly 2 to move close to or away from the palm part 100, thereby effectively increasing the flexibility of the thumb structure, and when applied to the multi-degree-of-freedom simulation hand, the thumb structure can be more flexible and more suitable for gripping operation.

[0072] Referring toFigure 1 and Figure 5 The first spherical hinge structure 4 comprises a connecting rod 41, a first spherical body 42 and a spherical sleeve 43. One end of the connecting rod 41 is fixedly connected with the proximal interphalangeal joint 21 of the thumb, and the other end is fixedly connected with the first spherical body 42. The spherical sleeve 43 is fixedly installed on the palm portion 100 and is hingedly connected with the first spherical body 42.

[0073] Specifically, in the embodiment, the spherical center C1 of the first spherical body 42 is located on one side of the central axis L1 of the side swing driving assembly 3 close to the thumb assembly 2, thereby increasing the swing range of the thumb assembly 2 to a certain extent.

[0074] Of course, in other embodiments, the spherical center C1 of the first spherical hinge structure 4 can also be arranged on the rotation axis of the first shell 1, and can also be arranged according to actual swing requirements, as long as the actual movement requirements of the thumb assembly 2 can be met.

[0075] Referring to Figures 2 to 6 The side swing driving assembly 3 comprises a side swing driving portion 31, a side swing pull rod 32 and a connecting portion 33. The side swing driving portion 31 is installed in the first shell 1. One end of the side swing pull rod 32 is movably connected with the side swing driving portion 31, and the other end has a first hinge site 321 and a second hinge site 322. The first hinge site 321 is rotatably connected with the proximal interphalangeal joint 21 of the thumb, and the second hinge site 322 is connected with the middle interphalangeal joint 22 of the thumb through the connecting portion 33.

[0076] It should be understood that the side swing driving portion 31, the side swing pull rod 32 and the connecting portion 33 can be arranged in various structures, and can drive the middle interphalangeal joint 22 of the thumb to rotate relative to the proximal interphalangeal joint 21 of the thumb along the direction of approaching or moving away from the palm portion 100 (i.e. along the direction of Z21 or Z22 shown in the figure) when the thumb assembly 2 is driven to rotate along the direction of approaching or moving away from the palm portion 100 (i.e. along the direction of Z11 or Z12 shown in the figure). Figure 5 Figure 5 It should be understood that the side swing driving portion 31, the side swing pull rod 32 and the connecting portion 33 can be arranged in various structures, and can drive the middle interphalangeal joint 22 of the thumb to rotate relative to the proximal interphalangeal joint 21 of the thumb along the direction of approaching or moving away from the palm portion 100 (i.e. along the direction of Z21 or Z22 shown in the figure) when the thumb assembly 2 is driven to rotate along the direction of approaching or moving away from the palm portion 100 (i.e. along the direction of Z11 or Z12 shown in the figure).

[0077] Specifically, in the embodiment, the side swing driving portion 31 comprises a side swing driving motor 311, a side swing driving gear set 312, a side swing driving screw 313 and a side swing driving sliding block 314. The power of the side swing driving motor 311 is transmitted to the side swing driving screw 313 through the side swing driving gear set 312 to drive the side swing driving screw 313 to rotate. The side swing driving screw 313 is slidably connected with the side swing driving sliding block 314, thereby driving the side swing driving sliding block 314 to slide along the axial direction of the side swing driving screw 313.

[0078] It should be understood that the side swing driving sliding block 314 is axially slidably and circumferentially limitingly connected with the first shell 1, because the side swing driving sliding block 314 is driven to slide by rotating.​

[0079] Specifically, the connecting part 33 comprises a pull ring 331 and a connecting rod 332; the pull ring 331 is in a ring structure, and the central axis of the pull ring 331 coincides with the central axis of the second spherical hinge structure 5; the pull ring 331 is fixedly connected with the middle metacarpophalangeal joint 22 of the thumb, and partially protrudes from the middle metacarpophalangeal joint 22 towards the proximal metacarpophalangeal joint 21 of the thumb; one end of the connecting rod 332 is rotationally connected with the second hinge site 322, and the other end is rotationally connected with the part of the pull ring 331 protruding from the middle metacarpophalangeal joint 22 of the thumb. It is not difficult to understand that the proximal metacarpophalangeal joint 21 of the thumb has enough space for the operation of the connecting part 33, and the above-mentioned arrangement is conducive to the installation of the structure and the stable movement between the structures.

[0080] Referring to Figures 2 to 6 , the second spherical hinge structure 5 comprises a circular arc cavity 51, a hinge shaft 52 and a second spherical body 53; the circular arc cavity 51 is arranged on the middle metacarpophalangeal joint 22 of the thumb, and both ends of the circular arc cavity 51 have openings 511; the hinge shaft 52 is rotationally connected with the proximal metacarpophalangeal joint 21 of the thumb at both ends through the openings 511, and the diameter of the opening 511 is greater than that of the hinge shaft 52; the second spherical body 53 is located in the circular arc cavity 51 and rotationally connected with the hinge shaft 52, and the outer wall surface of the second spherical body 53 abuts against the cavity wall of the circular arc cavity 51.

[0081] Further, in order to facilitate the stable swinging of the middle metacarpophalangeal joint 22 of the thumb relative to the proximal metacarpophalangeal joint 21 of the thumb, the second spherical hinge structure 5 further comprises two extension sleeves 54 which are sleeved on the hinge shaft 52; the extension sleeves 54 are symmetrically distributed about the second spherical body 53, one end of the extension sleeve 54 is fixedly connected with the second spherical body 53, and the other end abuts against the proximal metacarpophalangeal joint 21 of the thumb; the outer diameter of the extension sleeve 54 is smaller than the diameter of the opening 511.

[0082] Referring to Figure 8 and Figure 9 , in another embodiment, in order to further increase the flexibility of the multi-degree-of-freedom thumb structure, the first shell 1 is rotationally connected with the palm part 100; the multi-degree-of-freedom thumb structure further comprises a flipping driving assembly 6 for driving the first shell 1 to rotate.

[0083] It is not difficult to understand that in the present scheme, driving the first shell 1 to rotate, that is, driving the first shell 1, the thumb assembly 2 and the side swinging driving assembly 3 as a whole to rotate (relative to the palm part 100), can increase the flexibility.

[0084] Referring to Figure 8 and Figure 9 , in order to facilitate the flexible adjustment of the thumb assembly 2, at least the power part of the flipping driving assembly 6 is installed on the palm part 100.

[0085] Specifically, the turning driving assembly 6 comprises a first motor 61, a turning transmission gear set 62, a turning driving shaft 63, a first driving bevel gear 64 and a first driven bevel gear 65; wherein the power of the first motor 61 is transmitted to the turning driving shaft 63 through the turning transmission gear set 62 to drive the turning driving shaft 63 to rotate; the first motor 61, the turning transmission gear set 62, the turning driving shaft 63 and the first driving bevel gear 64 are all mounted on the palm part 100, and the first driving bevel gear 64 is fixedly arranged at one end of the turning driving shaft 63; the first driven bevel gear 65 is fixedly mounted or connected on one end of the first shell 1 and is in meshing transmission with the first driving bevel gear 64, so that the turning driving assembly 6 can drive the first shell 1 to rotate.

[0086] Of course, in other embodiments, the turning driving assembly 6 can also be arranged as a motor and a shaft coupling to directly drive the first shell 1 to rotate; or can be arranged as a combination structure of a reciprocating motor (a reciprocating electric push rod, etc.) and a rack and pinion, that is, the turning driving assembly 6 can drive the first shell 1 to rotate relative to the palm part 100.

[0087] Referring to Figures 10 to 14 The embodiment also provides a multi-degree-of-freedom simulation hand which comprises a palm part 100, a small thumb structure, a middle finger structure and the above multi-degree-of-freedom thumb structure. The middle finger structure comprises three middle fingers. The small thumb structure comprises a second shell 7 and a small thumb assembly, the small thumb assembly is mounted on the second shell 7, and the second shell 7 is in rotating fit connection with the palm part 100.

[0088] In order to further increase the flexibility of the whole multi-degree-of-freedom simulation hand, a linkage driving assembly 8 is further arranged, the linkage driving assembly 8 is used for driving the first shell 1 and the second shell 7 to simultaneously rotate towards the palm part 100 or away from the palm part 100. Figure 11 That is, when the first shell 1 rotates inwards (i.e. towards the palm part 100) around the rotation center axis L2, the second shell 7 simultaneously rotates inwards (i.e. towards the palm part 100) around the rotation center axis L3, so as to realize the folding of the whole simulation hand and facilitate the simulation of the action of clenching and grabbing of a human hand. Correspondingly, when the first shell 1 rotates outwards (i.e. away from the palm part 100) around the rotation center axis L2, the second shell 7 simultaneously rotates outwards (i.e. away from the palm part 100) around the rotation center axis L3, so as to realize the unfolding of the whole simulation hand and simulate the action of opening of a human palm.

[0089] Specifically, the linkage driving assembly 8 can be arranged as a combination structure of a gear set and a shaft, so as to facilitate the adjustment of the transmission ratio and the matching of the rotation angle of the first shell 1 and the rotation angle of the second shell 7.

[0090] Further, the linkage driving assembly 8 is engaged with the turning driving shaft 63 at one end and connected with the round shaft 71 connecting the second shell 7 and the palm part 100 at the other end.

[0091] In order to further increase the flexibility of the bionic hand adjustment and simulate the state of approaching and moving away between each finger of the human hand, the swing driving assembly 9 is arranged between the little finger structure and the second shell 7 and between the middle finger structure and the palm part 100.

[0092] Taking the middle finger structure as an example, the swing driving assembly 9 comprises a hinged frame 91, an arc bevel gear segment 92 and a second driving bevel gear 93. The hinged frame 91 is rotatably installed on the palm part 100 and connected with the proximal interphalangeal joint of the middle finger structure. The arc bevel gear segment 92 is fixedly arranged on the hinged frame 91 and engaged with the second driving bevel gear 93.

[0093] It should be understood that, referring to Figure 14 , the power source 94 of the swing driving assembly 9 can also be an electric motor. The power can be transmitted to the rotating shaft through a gear set, and then the second driving bevel gear 93 is driven to rotate. When the second driving bevel gear 93 rotates, the arc bevel gear segment 92 and the hinged frame 91 are synchronously swung.

[0094] In addition, in order to facilitate the adjustment of each finger, the swing driving assembly 9 can be arranged in the mounting cavity arranged in the palm part 100.

[0095] It should also be understood that the swing driving assembly 9 arranged between the little finger structure and the second shell 7 has a similar structure, except that the hinged frame 91 is rotatably installed on the second shell 7 (i.e. the swing driving assembly 9 is arranged in the mounting cavity arranged in the second shell 7) and connected with the proximal interphalangeal joint of the little finger structure. Therefore, no further description is given.

[0096] Referring to Figure 7 and Figure 10 and Figure 13 , the multi-degree-of-freedom thumb structure, the little finger structure and the middle finger structure all have interphalangeal joints that are hingedly connected with each other. The flexion and extension driving assembly 10 is arranged between adjacent interphalangeal joints to realize the flexion and extension adjustment of the fingers.

[0097] Specifically, taking the multi-degree-of-freedom thumb structure and the little thumb structure as examples, the flexion and extension driving assembly 10 comprises a flexion and extension driving power part 101, a second transmission gear set 102, a flexion and extension driving screw 103, a flexion and extension driving slider 104, and a flexion and extension pull rod 105; the power of the flexion and extension driving power part 101 is transmitted to the flexion and extension driving screw 103 through the second transmission gear set 102 to drive the flexion and extension driving screw 103 to rotate; the flexion and extension driving slider 104 is slidingly installed on one of the finger joints and is in threaded connection with the flexion and extension driving screw 103, so as to slide along the flexion and extension driving screw 103 in the axial direction when the flexion and extension driving screw 103 rotates; the flexion and extension pull rod 105 is rotationally and movably connected to the flexion and extension driving slider 104 at one end and is hingedly connected to another finger joint at the other end.

[0098] In addition, referring to Figure 13 In the middle finger structure, since the fingers are relatively long, four joints can be arranged, and an extension pull rod 106 can be additionally arranged between the farthest finger joint and the middle finger joint to realize the synchronous driving of the farthest finger joint and the adjacent finger joint.

[0099] It should also be noted that, since the various sliders and screws in the present application are in threaded connection, and the sliding of the sliders is driven by the rotation of the screws, the sliders are installed in an axial sliding and circumferential limiting manner.

[0100] In summary, referring to Figures 1 to 14 The specific movement modes of the bionic hand in the present application can be as follows:

[0101] 1. Swing and flexion and extension movement of the middle finger structure and the little thumb structure.

[0102] 2. Flexion and extension movement of the multi-degree-of-freedom thumb structure.

[0103] 3. The multi-degree-of-freedom thumb structure is relatively close to or far from the palm part 100, and at the same time, the middle finger joint 22 of the thumb of the multi-degree-of-freedom thumb structure swings relative to the proximal finger joint 21 of the thumb.

[0104] 4. The first shell 1 and the second shell 7 simultaneously rotate relative to the palm part 100.

[0105] It should also be understood that, since the above four movements do not interfere with each other, they can be performed simultaneously to cooperate with each other to realize the simulation of the bionic hand to the gripping, grabbing, unfolding and other actions of the human hand, so that the bionic hand is more flexible.

[0106] In addition, in order to realize accurate control, all driving devices (such as the flexion and extension driving assembly 10, the overturning driving assembly 6, the side swing driving assembly 3, etc.) are provided with end position sensors to ensure the movement accuracy. For example, the position of the corresponding slider can be detected to determine the movement state.

[0107] It is also worth mentioning that in the present embodiment, the side swing driving part 31 is installed in the first shell 1 (see Figure 2 , Figure 3 and Figure 5 ); the turning driving assembly 6 and the linkage driving assembly 8 are both installed in the palm part 100 (see Figures 8 to 11 ); the swing driving assembly 9 is installed between the little finger structure and the second shell 7, and between the middle finger structure and the palm part 100 (see Figures 10 to 14 ); the flexion and extension driving assembly 10 is arranged between adjacent finger joints (see Figure 7 and Figure 13 ), that is, the power and transmission structures of the side swing driving assembly 3, the turning driving assembly 6, the swing driving assembly 9 and the flexion and extension driving assembly 10 of the simulation hand are all arranged on the simulation hand, and the movements between the driving structures are relatively independently controlled, thereby effectively increasing the flexibility of the entire simulation hand, while not affecting the flexibility of the wrist part of the simulation hand, further increasing the flexibility of the entire simulation hand.

[0108] The above embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and substitutions made by those skilled in the art on the basis of the present application all belong to the scope of protection required by the present application.

Claims

1. A multi-degree-of-freedom thumb structure for use in a multi-degree-of-freedom artificial hand, the multi-degree-of-freedom artificial hand comprising a palm portion (100); characterized in that the multi-degree-of-freedom thumb structure comprises a first housing (1), a thumb assembly (2), and a side swing driving assembly (3) connected with the first housing (1); the first housing (1) is mounted on the palm portion (100); the thumb assembly (2) comprises a thumb proximal joint (21), a thumb middle joint (22), and a thumb distal joint (23) connected in sequence; one end of the thumb proximal joint (21) is connected with the palm portion (100) through a first spherical hinge structure (4), and the other end is connected with the thumb middle joint (22) through a second spherical hinge structure (5); a power output end of the side swing driving assembly (3) is connected with the thumb proximal joint (21) to drive the thumb assembly (2) to approach or move away from the palm portion (100); the power output end of the side swing driving assembly (3) is also connected with the thumb middle joint (22) to synchronously drive the thumb middle joint (22) to swing relative to the thumb proximal joint (21) around the center of the second spherical hinge structure (5) when the thumb assembly (2) is driven to approach or move away from the palm portion (100).

2. The multi-degree-of-freedom thumb structure of claim 1, wherein, the first spherical hinge structure (4) comprises a connecting rod (41), a first spherical body (42), and a spherical sleeve (43); one end of the connecting rod (41) is fixedly connected with the thumb proximal joint (21), and the other end is fixedly connected with the first spherical body (42); the spherical sleeve (43) is fixedly mounted on the palm portion (100) and is hingedly connected with the first spherical body (42).

3. The multi-degree-of-freedom thumb structure of claim 2, wherein, the side swing driving assembly (3) comprises a side swing driving portion (31), a side swing pull rod (32), and a connecting portion (33); the side swing driving portion (31) is mounted in the first housing (1); one end of the side swing pull rod (32) is movably connected with the side swing driving portion (31), and the other end has a first hinged position (321) and a second hinged position (322); the first hinged position (321) is rotatably connected with the thumb proximal joint (21), and the second hinged position (322) is connected with the thumb middle joint (22) through the connecting portion (33).

4. The multi-degree-of-freedom thumb structure of claim 3, wherein, the connecting portion (33) comprises a pull ring (331) and a connecting rod (332); the pull ring (331) has a circular ring structure, and a central axis of the pull ring (331) coincides with a central axis of the second spherical hinge structure (5); the pull ring (331) is fixedly connected with the thumb middle joint (22) and partially protrudes from the thumb middle joint (22) towards the thumb proximal joint (21); one end of the connecting rod (332) is rotatably connected with the second hinged position (322), and the other end is rotatably connected with a part of the pull ring (331) protruding from the thumb middle joint (22).

5. The multi-degree-of-freedom thumb structure of claim 1, wherein, The second spherical hinge structure (5) comprises a circular arc cavity (51), a hinge shaft (52) and a second spherical body (53); The circular arc cavity (51) is arranged on the middle end knuckle (22) of the thumb, and both ends have openings (511); The hinge shaft (52) is rotatably connected with the proximal knuckle (21) of the thumb through the openings (511) at both ends, and the diameter of the opening (511) is larger than that of the hinge shaft (52); The second spherical body (53) is located in the circular arc cavity (51) and is rotatably connected with the hinge shaft (52), and the outer wall surface of the second spherical body (53) abuts against the cavity wall of the circular arc cavity (51).

6. A multi-degree of freedom thumb structure according to claim 5, wherein, The second spherical hinge structure (5) further comprises two extension sleeves (54) sleeved on the hinge shaft (52); The extension sleeves (54) are symmetrically distributed about the second spherical body (53), one end of the extension sleeve (54) is fixedly connected with the second spherical body (53), and the other end abuts against the proximal knuckle (21) of the thumb; The outer diameter of the extension sleeve (54) is smaller than the diameter of the opening (511).

7. A multi-degree-of-freedom thumb structure according to any one of claims 1-6, characterized in that, The first shell (1) is rotatably connected with the palm part (100); The multi-degree-of-freedom thumb structure further comprises a turnover driving assembly (6) for driving the first shell (1) to rotate; At least the power part of the turnover driving assembly (6) is mounted on the palm part (100).

8. A multi-degree-of-freedom artificial hand comprising a palm portion (100), characterized in that, Further comprising the multi-degree-of-freedom thumb structure according to any one of claims 1-7; Further comprising a small thumb structure and an intermediate finger structure; The small thumb structure comprises a second shell (7), and the second shell (7) is rotatably connected with the palm part (100); Further comprising a linkage driving assembly (8) for driving the first shell (1) and the second shell (7) to rotate simultaneously towards or away from the palm part (100).

9. A multi-degree of freedom artificial hand according to claim 8, wherein, Swing driving assemblies (9) are arranged between the small thumb structure and the second shell (7) and between the intermediate finger structure and the palm part (100); The swing driving assembly (9) comprises a hinge frame (91), a circular arc bevel gear segment (92) and a second driving bevel gear (93); The hinge frame (91) is rotatably mounted on the second shell (7) or the palm part (100) and connected with the proximal knuckle of the small thumb structure or the proximal knuckle of the intermediate finger structure; The circular arc bevel gear segment (92) is fixedly arranged on the hinge frame (91) and in meshing transmission with the second driving bevel gear (93).

10. The multi-degree-of-freedom simulated hand of claim 8, wherein, The multi-degree-of-freedom thumb structure, the small thumb structure and the intermediate finger structure all have knuckles hingedly connected with each other; Flexion and extension driving assemblies (10) are arranged between adjacent knuckles; The flexion and extension driving assembly (10) comprises a flexion and extension driving power part (101), a second transmission gear set (102), a flexion and extension driving screw (103), a flexion and extension driving sliding block (104) and a flexion and extension pull rod (105). The power of the flexion and extension driving power part (101) is transmitted to the flexion and extension driving screw (103) through the second transmission gear set (102) to drive the rotation of the flexion and extension driving screw (103); The flexion and extension driving slider (104) is slidingly installed on one of the finger joints and is in threaded connection with the flexion and extension driving screw (103) to slide along the flexion and extension driving screw (103) in the axial direction when the flexion and extension driving screw (103) rotates; one end of the flexion and extension pull rod (105) is in rotary matching connection with the flexion and extension driving slider (104), and the other end is hingedly connected with the other finger joint.

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